KR20180096078A - Module type home robot - Google Patents

Abstract

A modular home robot according to an embodiment of the present invention comprises: an apparatus module coupling unit coupled with an apparatus module; an input unit for receiving a user input; an output unit for outputting voice and image; a sensing unit for sensing a user; and a control unit for controlling the modular home robot to sense a trigger signal, activate the apparatus module or the output unit according to the sensed trigger signal, and perform an operation mapped to the sensed trigger signal. The trigger signal includes: a user proximity signal; a user voice signal; a user movement signal; a specific visual sense signal; and an environmental change detection signal.

Description

Modular Home Robot {MODULE TYPE HOME ROBOT}

The present invention relates to a module type home robot and a method of operating the same.

Recently, various robots are being developed for home automation (HA). Home automation is to process various events that may occur in the home using an automated system such as a robot that processes them. For example, automation systems can be used to patrol and crime in the home for home security and safety. Such a home automation system can periodically patrol and crime in the home using a kind of robot. When a robot performs a patrol and crime activity in the home and a specific event such as an intruder occurs in the home, a proper countermeasure such as an intruder notification can be performed.

This kind of home automation is performed by an automation system on behalf of a user by using various robots to perform tasks that may occur in the home. Such an automation system will typically provide services using home service robots.

As in the above example, home automation is to provide services using robots that perform specific services.

However, most home robots developed until now are mostly mass-produced in a state where they are embedded to perform specific functions. Therefore, it is inconvenient for users to have various home robots in order to implement various functions.

Furthermore, in the case of a robot having a predetermined size or larger, the robot can not easily move to a desired environment, and the robot must always move within a certain space of the home.

One object of the present invention is to provide a home robot having a function desired by a user with ease even if one product is purchased.

Another object of the present invention is to provide a home robot in which a user is automatically activated without any additional input and performs an interaction with a user.

Another object of the present invention is to provide a home robot that realizes necessary functions by itself in an environment where there is no user in the house.

The modular home robot according to an embodiment of the present invention can be separated into a main body and a device module, and a device module can be replaced, and a different device module can be used for various functions.

Also, the modular home robot according to an embodiment of the present invention can detect nearby users in real time through a proximity sensor or a voice recognition sensor, and a plurality of functions can be automatically activated according to a trigger signal.

In addition, the modular home robot according to an embodiment of the present invention detects the user's environment by itself and uses some functions of a specific device module such as a camera module for security purposes.

The effects of the present invention are as follows.

According to one embodiment of the various embodiments of the present invention, since the main body and the device module can be separated, the device module can be replaced, and different device modules can be used for different functions, It has an effect of providing a consumer robot with a function of a user easily desired even if it is purchased.

According to another embodiment of the present invention, the modular home robot can detect nearby users in real time through a proximity sensor or a voice recognition sensor, and a plurality of functions are automatically activated according to a trigger signal, Is automatically activated without any additional input and has the ability to interact with the user.

According to another embodiment of the various embodiments of the present invention, since the user's absence environment is detected by itself and some functions of the currently installed device module can be used for security, There is a technical effect to implement by oneself.

1A is a view for explaining the appearance of a modular domestic robot according to the present invention.
1B is a block diagram for explaining a main body related to the present invention.
FIG. 2 is a view for explaining movement of an apparatus module of a modular domestic robot according to the present invention.
3 to 5 are views for explaining an example in which a modular home robot according to the present invention perceives and responds to a user.
6 to 7 are views for explaining an example in which a modular domestic robot according to the present invention controls an external device according to user input.
FIG. 8 is a view for explaining an example in which the modular home robot performs the time-based repeated operation according to the embodiment of the present invention.
9 to 11 are views for explaining an example in which a modular home robot according to the present invention interacts with a user using a dust sensor.
12 is a view for explaining an example in which a modular home robot according to the present invention simultaneously interacts with an external device and a user.
13 and 14 are diagrams for explaining an example in which only the device module among the modular home robots according to the present invention operates separately.
FIGS. 15 to 19 are views for explaining an example when the device module of the modular home robot according to the present invention is a camera module.
20 to 21 are views for explaining an example when the device module of the modular home robot according to the present invention is a projector module.
22 to 23 are views for explaining an additional embodiment of the modular domestic robot according to the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.

Terms including ordinals, such as first, second, etc., may be used to describe various elements, but the elements are not limited to these terms. The terms are used only for the purpose of distinguishing one component from another.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The singular expressions include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Hereinafter, a vehicle having a display device according to an embodiment of the present invention will be described, and then a display device according to each embodiment of the present invention will be described in order.

1A is a view for explaining the appearance of a modular domestic robot according to the present invention.

1A, the modular home robots 100 and 200 according to the present invention may include a main body 100 and a device module 200. [

The main body 100 of the modular home robot includes various sensing units and input / output units such as an LED, a microphone, a speaker, and a human body sensor. The configuration of the main body 100 will be described in detail with reference to FIG. 1B.

The device module 200 of the modular home robot may include a device module having various functions such as an LED module 202, a camera module 204, and a projector module 206. It is apparent that the device modules 202, 204, and 206 described in FIG. 1A are merely examples, and that all devices available in the home are modularly manufactured and can be used in this modular home robot.

1B is a block diagram for explaining a main body related to the present invention.

The main body 100 includes a wireless communication unit 110, an input unit 120, a sensing unit 140, an output unit 150, an interface unit 160, a memory 170, a control unit 180, ), And the like. The components shown in FIG. 1B are not essential for implementing the main body, so that the main body described herein can have more or fewer components than the components listed above.

More specifically, the wireless communication unit 110 among the above-described components can communicate with the main body 100 and between the main body 100 and the other main body 100, or between the main body 100 and the external server, Lt; RTI ID = 0.0 > wireless < / RTI > The wireless communication unit 110 may include one or more modules for connecting the main body 100 to one or more networks.

The wireless communication unit 110 may include at least one of a mobile communication module 112, a wireless Internet module 113, a short distance communication module 114, and a location information module 115.

The input unit 120 includes a camera 121 or an image input unit for inputting a video signal, a microphone 122 for inputting an audio signal, an audio input unit, a user input unit 123 for receiving information from a user A touch key, a mechanical key, and the like). The voice data or image data collected by the input unit 120 may be analyzed and processed by a user's control command.

The sensing unit 140 may include one or more sensors for sensing at least one of main body information, surrounding information surrounding the main body, and user information. For example, the sensing unit 140 may include a proximity sensor 141, an illumination sensor 142, a touch sensor, an acceleration sensor, a magnetic sensor, A G-sensor, a gyroscope sensor, a motion sensor, an RGB sensor, an infrared sensor, a finger scan sensor, an ultrasonic sensor, A microphone 226, a battery gauge, an environmental sensor (for example, a barometer, a hygrometer, a thermometer, a radiation detection sensor, A thermal sensor, a gas sensor, etc.), a chemical sensor (e.g., an electronic nose, a healthcare sensor, a biometric sensor, etc.). Meanwhile, the main body disclosed in the present specification can combine and utilize information sensed by at least two of the sensors.

The output unit 150 includes at least one of a display unit 151, an acoustic output unit 152, a haptic tip module 153, and a light output unit 154 to generate an output related to visual, auditory, can do. The display unit 151 may have a mutual layer structure with the touch sensor or may be integrally formed to realize a touch screen. The touch screen functions as a user input unit 123 that provides an input interface between the main body 100 and a user and can provide an output interface between the main body 100 and a user.

The interface unit 160 serves as a path to various kinds of external devices connected to the main body 100. The interface unit 160 is connected to a device having a wired / wireless headset port, an external charger port, a wired / wireless data port, a memory card port, And may include at least one of a port, an audio I / O port, a video I / O port, and an earphone port. In the main body 100, corresponding to the connection of the external device to the interface unit 160, the main body 100 can perform appropriate control related to the connected external device.

In addition, the memory 170 stores data supporting various functions of the main body 100. The memory 170 may store a plurality of application programs or applications driven by the main body 100, data for operation of the main body 100, and commands. At least some of these applications may be downloaded from an external server via wireless communication. Also, at least some of these application programs may reside on the main body 100 from the time of shipment for basic functions of the main body 100 (e.g., phone call incoming, outgoing, message receiving, and origination functions). Meanwhile, the application program may be stored in the memory 170, installed on the main body 100, and may be driven by the controller 180 to perform the operation (or function) of the main body.

In addition to the operations related to the application program, the control unit 180 typically controls the overall operation of the main body 100. The control unit 180 may process or process signals, data, information, and the like input or output through the above-mentioned components, or may drive an application program stored in the memory 170 to provide or process appropriate information or functions to the user.

In addition, the controller 180 may control at least some of the components illustrated in FIG. 1B to drive an application program stored in the memory 170. FIG. Furthermore, the controller 180 may operate at least two of the components included in the main body 100 in combination with each other for driving the application program.

The power supply unit 190 receives external power and internal power under the control of the controller 180 and supplies power to the respective components included in the main body 100. The power supply unit 190 includes a battery, which may be an internal battery or a replaceable battery.

At least some of the components may operate in cooperation with one another to implement a main body operation, control, or control method according to various embodiments described below. Also, the operation, control, or control method of the main body may be implemented on the main body by driving at least one application program stored in the memory 170. [

Hereinafter, before examining various embodiments implemented through the main body 100 as described above, the above-mentioned components will be described in more detail with reference to FIG.

First, the mobile communication module 112 of the wireless communication unit 110 determines whether or not the mobile communication module 110 has received the technical standards or the communication method (for example, GSM (Global System for Mobile communication), CDMA (Code Division Multiple Access), CDMA2000 (Code Division Multi Access 2000), EV-DO (Enhanced Voice-Data Optimized or Enhanced Voice-Data Only), WCDMA (Wideband CDMA), HSDPA (High Speed Downlink Packet Access) And transmits the radio signal to at least one of a base station, an external terminal, and a server on a mobile communication network constructed according to a High Speed Uplink Packet Access (LTE), Long Term Evolution (LTE), Long Term Evolution-Advanced (LTE-A)

The wireless signal may include various types of data depending on a voice call signal, a video call signal or a text / multimedia message transmission / reception.

The wireless Internet module 113 is a module for wireless Internet access, and may be embedded in the main body 100 or externally. The wireless Internet module 113 is configured to transmit and receive a wireless signal in a communication network according to wireless Internet technologies.

Wireless Internet technologies include, for example, wireless LAN (WLAN), wireless fidelity (Wi-Fi), wireless fidelity (Wi-Fi) Direct, DLNA (Digital Living Network Alliance), WiBro Interoperability for Microwave Access, High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE) and Long Term Evolution-Advanced (LTE-A) 113 transmit and receive data according to at least one wireless Internet technology, including Internet technologies not listed above.

The wireless Internet module 113 for performing a wireless Internet connection through the mobile communication network can be used for wireless Internet access by WiBro, HSDPA, HSUPA, GSM, CDMA, WCDMA, LTE or LTE- May be understood as a kind of the mobile communication module 112.

The short-range communication module 114 is for short-range communication, and includes Bluetooth ™, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB) (Near Field Communication), Wi-Fi (Wireless-Fidelity), Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus) technology. The short-range communication module 114 is connected to the main body 100 and the wireless communication system via the wireless area networks, between the main body 100 and the other main body 100, or between the main body 100 ) And the other main body 100 (or the external server) are located. The short-range wireless communication network may be a short-range wireless personal area network.

The short-range communication module 114 may detect (or recognize) a mobile device capable of communicating with the main body 100 around the main body 100. If the detected mobile device is a device authenticated to communicate with the main body 100 according to the present invention, the control unit 180 may transmit at least a part of data processed in the main body 100 to the local communication module 114 to the mobile device. Accordingly, the user of the mobile device can utilize the data processed in the main body 100 through the mobile device. For example, according to this, when a telephone is received in the main body 100, the user performs a telephone call through the mobile device, or when a message is received in the main body 100, It is possible to check the message.

The position information module 115 is a module for obtaining the position (or current position) of the main body, and representative examples thereof include a Global Positioning System (GPS) module or a Wireless Fidelity (WiFi) module. For example, using the GPS module, the main body can acquire the position of the main body by using a signal transmitted from the GPS satellite. As another example, using the Wi-Fi module, the main body can acquire the position of the main body based on information of a wireless access point (wireless AP) that transmits or receives a wireless signal with the Wi-Fi module. Optionally, the location information module 115 may perform any of the other modules of the wireless communication unit 110 to obtain data regarding the location of the main body, in addition or alternatively. The position information module 115 is a module used to obtain the position (or current position) of the main body, and is not limited to a module that directly calculates or obtains the position of the main body.

Next, the input unit 120 is for inputting image information (or signal), audio information (or signal), data, or information input from a user. For inputting image information, the main body 100 is one Or a plurality of cameras 121 may be provided. The camera 121 processes an image frame such as a still image or moving image obtained by the image sensor in the video communication mode or the photographing mode. The processed image frame may be displayed on the display unit 151 or stored in the memory 170. [ A plurality of cameras 121 provided in the main body 100 may be arranged to form a matrix structure and various angles or foci may be provided to the main body 100 through the camera 121 having a matrix structure A plurality of pieces of image information can be input. In addition, the plurality of cameras 121 may be arranged in a stereo structure to acquire a left image and a right image for realizing a stereoscopic image.

The microphone 122 processes the external acoustic signal into electrical voice data. The processed voice data can be utilized variously according to functions (or application programs being executed) being performed in the main body 100. Meanwhile, the microphone 122 may be implemented with various noise reduction algorithms for eliminating noise generated in receiving an external sound signal.

The user input unit 123 is for receiving information from a user and when the information is input through the user input unit 123, the control unit 180 can control the operation of the main body 100 to correspond to the input information . The user input unit 123 may include a mechanical input unit (or a mechanical key, for example, a button located on the front, rear or side of the main body 100, a dome switch, a jog wheel, Jog switches, etc.) and touch-type input means. For example, the touch-type input means may comprise a virtual key, a soft key or a visual key displayed on the touch screen through software processing, And a touch key disposed on the touch panel. Meanwhile, the virtual key or the visual key can be displayed on a touch screen having various forms, for example, a graphic, a text, an icon, a video, As shown in FIG.

Next, the device module coupling unit 130 is located on the upper surface of the main body 100, and can be coupled with various device modules such as a camera module, a projector module, and the like.

The device module coupling unit 130 may include a wireless charging terminal (not shown), and the device modules that contact the device module coupling unit 130 may be wirelessly charged through the main power source of the main body 100.

Also, the device module coupling unit 130 and the device modules may be made of a magnetic material, and the main body 100 may control the magnetism to raise the device module up to a certain height from the device module coupling unit 130 .

Embodiments using the magnetism of the device module coupling unit 130 will be described in more detail in the following drawings.

Meanwhile, the sensing unit 140 senses at least one of information in the main body, surrounding environment information surrounding the main body, and user information, and generates a corresponding sensing signal. The control unit 180 may control the driving or operation of the main body 100 or may perform data processing, functions, or operations related to the application programs installed in the main body 100 based on the sensing signals. Representative sensors among various sensors that may be included in the sensing unit 140 will be described in more detail.

First, the proximity sensor 141 refers to a sensor that detects the presence of an object approaching a predetermined detection surface, or the presence of an object in the vicinity of the detection surface, without mechanical contact by using electromagnetic force or infrared rays. The proximity sensor 141 may be disposed in the inner area of the main body or the proximity sensor 141 near the touch screen.

Examples of the proximity sensor 141 include a transmission type photoelectric sensor, a direct reflection type photoelectric sensor, a mirror reflection type photoelectric sensor, a high frequency oscillation type proximity sensor, a capacitive proximity sensor, a magnetic proximity sensor, and an infrared proximity sensor. In the case where the touch screen is electrostatic, the proximity sensor 141 can be configured to detect the proximity of the object with a change of the electric field along the proximity of the object having conductivity. In this case, the touch screen (or touch sensor) itself may be classified as a proximity sensor.

On the other hand, for convenience of explanation, the act of recognizing that the object is located on the touch screen in proximity with no object touching the touch screen is referred to as "proximity touch & The act of actually touching an object on the screen is called a "contact touch. &Quot; The position at which the object is closely touched on the touch screen means a position where the object corresponds to the touch screen vertically when the object is touched. The proximity sensor 141 can detect a proximity touch and a proximity touch pattern (e.g., a proximity touch distance, a proximity touch direction, a proximity touch speed, a proximity touch time, a proximity touch position, have. Meanwhile, the control unit 180 processes data (or information) corresponding to the proximity touch operation and the proximity touch pattern sensed through the proximity sensor 141 as described above, and further provides visual information corresponding to the processed data It can be output on the touch screen. Furthermore, the control unit 180 can control the main body 100 such that different operations or data (or information) are processed according to whether a touch to the same point on the touch screen is a proximity touch or a touch contact .

The touch sensor uses a touch (or touch input) applied to the touch screen (or the display unit 151) by using at least one of various touch methods such as a resistance film type, a capacitive type, an infrared type, an ultrasonic type, Detection.

For example, the touch sensor may be configured to convert a change in a pressure applied to a specific portion of the touch screen or a capacitance generated in a specific portion to an electrical input signal. The touch sensor may be configured to detect a position, an area, a pressure at the time of touch, a capacitance at the time of touch, and the like where a touch object touching the touch screen is touched on the touch sensor. Here, the touch object may be a finger, a touch pen, a stylus pen, a pointer, or the like as an object to which a touch is applied to the touch sensor.

Thus, when there is a touch input to the touch sensor, the corresponding signal (s) is sent to the touch controller. The touch controller processes the signal (s) and then transmits the corresponding data to the control unit 180. Thus, the control unit 180 can know which area of the display unit 151 is touched or the like. Here, the touch controller may be a separate component from the control unit 180, and may be the control unit 180 itself.

On the other hand, the control unit 180 may perform different controls or perform the same control according to the type of the touch object touching the touch screen (or a touch key provided on the touch screen). Whether to perform different controls or to perform the same control depending on the type of the touch object may be determined according to the current state of the main body 100 or an application program being executed.

On the other hand, the touch sensors and the proximity sensors discussed above can be used independently or in combination to provide a short touch (touch), a long touch, a multi touch, a drag touch ), Flick touch, pinch-in touch, pinch-out touch, swipe touch, hovering touch, and the like. Touch can be sensed.

The ultrasonic sensor can recognize the position information of the object to be sensed by using ultrasonic waves. Meanwhile, the controller 180 can calculate the position of the wave generating source through the information sensed by the optical sensor and the plurality of ultrasonic sensors. The position of the wave source can be calculated using the fact that the light is much faster than the ultrasonic wave, that is, the time when the light reaches the optical sensor is much faster than the time the ultrasonic wave reaches the ultrasonic sensor. More specifically, the position of the wave generating source can be calculated using the time difference with the time when the ultrasonic wave reaches the reference signal.

The camera 121 includes at least one of a camera sensor (for example, a CCD, a CMOS, etc.), a photo sensor (or an image sensor), and a laser sensor.

The camera 121 and the laser sensor may be combined with each other to sense a touch of the sensing object with respect to the three-dimensional stereoscopic image. The photosensor can be laminated to the display element, which is adapted to scan the movement of the object to be detected proximate to the touch screen. More specifically, the photosensor mounts photo diodes and TRs (Transistors) in a row / column and scans the contents loaded on the photosensor using an electrical signal that varies according to the amount of light applied to the photo diode. That is, the photo sensor performs coordinate calculation of the object to be sensed according to the amount of change of light, and position information of the object to be sensed can be obtained through the calculation.

The display unit 151 displays (outputs) information processed in the main body 100. For example, the display unit 151 may display execution screen information of an application program driven by the main body 100 or UI (User Input) and GUI (Graphic User Input) information according to the execution screen information .

In addition, the display unit 151 may be configured as a stereoscopic display unit for displaying a stereoscopic image.

In the stereoscopic display unit, a three-dimensional display system such as a stereoscopic system (glasses system), an autostereoscopic system (no-glasses system), and a projection system (holographic system) can be applied.

The sound output unit 152 may output audio data received from the wireless communication unit 110 or stored in the memory 170 in a call signal reception mode, a call mode or a recording mode, a voice recognition mode, a broadcast reception mode, The sound output unit 152 also outputs sound signals related to functions (e.g., call signal reception sound, message reception sound, and the like) performed in the main body 100. The audio output unit 152 may include a receiver, a speaker, a buzzer, and the like.

The haptic module 153 generates various tactile effects that the user can feel. A typical example of the haptic effect generated by the haptic module 153 may be vibration. The intensity and pattern of the vibration generated in the haptic module 153 can be controlled by the user's selection or the setting of the control unit. For example, the haptic module 153 may synthesize and output different vibrations or sequentially output the vibrations.

In addition to vibration, the haptic module 153 may be configured to perform various functions such as a pin arrangement vertically moving with respect to the contact skin surface, a spraying force or suction force of the air through the injection port or the suction port, a touch on the skin surface, And various tactile effects such as an effect of reproducing a cold sensation using an endothermic or exothermic element can be generated.

The haptic module 153 can transmit the tactile effect through the direct contact, and the tactile effect can be felt by the user through the muscles of the finger or arm. At least two haptic modules 153 may be provided according to the configuration of the main body 100.

The light output unit 154 outputs a signal for notifying the occurrence of an event using the light of the light source of the main body 100. Examples of events that occur in the main body 100 may include message reception, call signal reception, missed call, alarm, schedule notification, email reception, information reception via an application, and the like.

The signal output by the light output unit 154 is implemented as the main body 100 emits light of a single color or a plurality of colors to the front or rear surface. The signal output may be terminated by the main body detecting the event confirmation of the user.

The interface unit 160 serves as a path for communication with all external devices connected to the main body 100. The interface unit 160 receives data from an external device or supplies power to each component in the main body 100 or allows data in the main body 100 to be transmitted to an external device. For example, a port for connecting a device equipped with a wired / wireless headset port, an external charger port, a wired / wireless data port, a memory card port, an audio I / O port, a video I / O port, an earphone port, and the like may be included in the interface unit 160.

The identification module is a chip for storing various information for authenticating the usage right of the main body 100 and includes a user identification module (UIM), a subscriber identity module (SIM) A universal subscriber identity module (USIM), and the like. Devices with identification modules (hereinafter referred to as "identification devices") can be manufactured in a smart card format. Accordingly, the identification device can be connected to the terminal 100 through the interface unit 160. [

When the main body 100 is connected to an external cradle, the interface unit 160 may be a path through which power from the cradle is supplied to the main body 100, And various command signals may be transmitted to the main body 100. Various command signals or the power from the cradle can be operated as a signal for recognizing that the main body 100 is correctly mounted on the cradle.

The memory 170 may store a program for the operation of the controller 180 and temporarily store input / output data (e.g., a phone book, a message, a still image, a moving picture, etc.). The memory 170 may store data related to vibration and sound of various patterns outputted when a touch is input on the touch screen.

The memory 170 may be a flash memory type, a hard disk type, a solid state disk type, an SDD type (Silicon Disk Drive type), a multimedia card micro type ), Card type memory (e.g., SD or XD memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read memory, a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, and / or an optical disk. The main body 100 may be operated in association with a web storage that performs a storage function of the memory 170 on the internet.

Meanwhile, as described above, the control unit 180 controls the operations related to the application programs and the general operation of the main body 100. [ For example, when the state of the main body satisfies a set condition, the controller 180 may execute or release a lock state for restricting input of a user's control command to applications.

In addition, the control unit 180 performs control and processing related to voice communication, data communication, video call, or the like, or performs pattern recognition processing to recognize handwriting input or drawing input performed on the touch screen as characters and images, respectively . Further, the controller 180 may control any one or a plurality of the above-described components in order to implement various embodiments described below on the main body 100 according to the present invention.

The power supply unit 190 receives external power and internal power under the control of the controller 180 and supplies power necessary for operation of the respective components. The power supply unit 190 includes a battery, the battery may be an internal battery configured to be chargeable, and may be detachably coupled to the terminal body for charging or the like.

In addition, the power supply unit 190 may include a connection port, and the connection port may be configured as an example of an interface 160 through which an external charger for supplying power for charging the battery is electrically connected.

As another example, the power supply unit 190 may be configured to charge the battery in a wireless manner without using the connection port. In this case, the power supply unit 190 may use at least one of an inductive coupling method based on the magnetic induction phenomenon and a magnetic resonance coupling based on the electromagnetic resonance phenomenon from an external wireless power transmission apparatus Power can be delivered.

In the following, various embodiments may be embodied in a recording medium readable by a computer or similar device using, for example, software, hardware, or a combination thereof.

Next, a communication system that can be implemented through the main body 100 according to the present invention will be described.

First, the communication system may use different wireless interfaces and / or physical layers. For example, wireless interfaces that can be used by a communication system include Frequency Division Multiple Access (FDMA), Time Division Multiple Access (TDMA), Code Division Multiple Access (CDMA) ), Universal mobile telecommunication systems (UMTS) (in particular Long Term Evolution (LTE), Long Term Evolution-Advanced (LTE-A)), Global System for Mobile Communications May be included.

Hereinafter, for the sake of convenience of description, the description will be limited to CDMA. However, it is apparent that the present invention can be applied to all communication systems including an OFDM (Orthogonal Frequency Division Multiplexing) wireless communication system as well as a CDMA wireless communication system.

A CDMA wireless communication system includes at least one terminal 100, at least one base station (BS) (also referred to as a Node B or Evolved Node B), at least one Base Station Controllers (BSCs) , And a Mobile Switching Center (MSC). The MSC is configured to be coupled to a Public Switched Telephone Network (PSTN) and BSCs. The BSCs may be paired with the BS via a backhaul line. The backhaul line may be provided according to at least one of E1 / T1, ATM, IP, PPP, Frame Relay, HDSL, ADSL or xDSL. Thus, a plurality of BSCs may be included in a CDMA wireless communication system.

Each of the plurality of BSs may comprise at least one sector, and each sector may comprise an omnidirectional antenna or an antenna pointing to a particular direction of radial from the BS. In addition, each sector may include two or more antennas of various types. Each BS may be configured to support a plurality of frequency assignments, and a plurality of frequency assignments may each have a specific spectrum (e.g., 1.25 MHz, 5 MHz, etc.).

The intersection of sector and frequency assignment may be referred to as a CDMA channel. The BS may be referred to as a base station transceiver subsystem (BTSs). In this case, a combination of one BSC and at least one BS may be referred to as a "base station ". The base station may also indicate a "cell site ". Alternatively, each of the plurality of sectors for a particular BS may be referred to as a plurality of cell sites.

In addition, a CDMA wireless communication system may be associated with a Global Positioning System (GPS) for checking the position of the main body 100. The satellite aids in locating the main body 100. Useful location information may be obtained by two or more satellites. Here, the position of the main body 100 can be tracked using all of the techniques for tracking the location as well as the GPS tracking technology. Also, at least one of the GPS satellites may optionally or additionally be responsible for satellite DMB transmissions.

The position information module 115 provided in the main body is for detecting, computing, or identifying the position of the main body, and may include a GPS (Global Position System) module and a WiFi (Wireless Fidelity) module. Optionally, the location information module 115 may perform any of the other modules of the wireless communication unit 110 to obtain data regarding the location of the main body, in addition or alternatively.

The GPS module 115 calculates distance information and accurate time information from three or more satellites and then applies trigonometry to the calculated information to accurately calculate three-dimensional current location information according to latitude, longitude, and altitude can do. At present, a method of calculating position and time information using three satellites and correcting an error of the calculated position and time information using another satellite is widely used. In addition, the GPS module 115 can calculate speed information by continuously calculating the current position in real time. However, it is difficult to accurately measure the position of the main body by using the GPS module in the shadow area of the satellite signal as in the room. Accordingly, a WPS (WiFi Positioning System) can be utilized to compensate the positioning of the GPS system.

The WiFi positioning system (WPS) includes a main body 100 and a main body 100 using a WiFi module and a wireless AP (wireless access point) transmitting or receiving a wireless signal with the WiFi module. Is a technology for tracking a location of a wireless local area network (WLAN) using WiFi.

The WiFi location tracking system may include a Wi-Fi location server, a main body 100, a wireless AP connected to the main body 100, and a database in which certain wireless AP information is stored.

The main body 100 connected to the wireless AP can transmit the location information request message to the Wi-Fi location server.

The Wi-Fi location server extracts information of the wireless AP connected to the main body 100 based on the location information request message (or signal) of the main body 100. The information of the wireless AP connected to the main body 100 may be transmitted to the Wi-Fi position location server through the main body 100 or may be transmitted from the wireless AP to the Wi-Fi position location server.

The information of the wireless AP to be extracted based on the location information request message of the main body 100 includes MAC address, SSID (Service Set IDentification), RSSI (Received Signal Strength Indicator), RSRP (Reference Signal Received Power) Reference Signal Received Quality), channel information, Privacy, Network Type, Signal Strength, and Noise Strength.

As described above, the Wi-Fi position location server can receive the information of the wireless AP connected to the main body 100 and extract the wireless AP information corresponding to the wireless AP to which the main body is connected from the pre-established database. In this case, the information of any wireless APs stored in the database includes at least one of MAC address, SSID, channel information, privacy, network type, radius coordinates of the wireless AP, building name, Available), the address of the AP owner, telephone number, and the like. At this time, in order to remove the wireless AP provided using the mobile AP or the illegal MAC address in the positioning process, the Wi-Fi location server may extract only a predetermined number of wireless AP information in order of RSSI.

Then, the Wi-Fi location server can extract (or analyze) the location information of the main body 100 using at least one wireless AP information extracted from the database. And compares the received information with the received wireless AP information to extract (or analyze) the location information of the main body 100.

As a method for extracting (or analyzing) the position information of the main body 100, a Cell-ID method, a fingerprint method, a triangulation method, and a landmark method can be utilized.

The Cell-ID method is a method for determining the position of the main body as the position of the wireless AP having the strongest signal strength among the surrounding wireless AP information collected by the main body. Although the implementation is simple, it does not cost extra and it can acquire location information quickly, but there is a disadvantage that positioning accuracy is lowered when the installation density of the wireless AP is low.

The fingerprint method collects signal strength information by selecting a reference position in a service area, and estimates the position based on the signal strength information transmitted from the main body based on the collected information. In order to use the fingerprint method, it is necessary to previously convert the propagation characteristics into a database.

The triangulation method is a method of calculating the position of the main body based on the coordinates of at least three wireless APs and the distance between the main bodies. In order to measure the distance between the main body and the wireless AP, the signal intensity is converted into distance information, the time of arrival (ToA), the time difference of arrival (TDoA) , An angle at which a signal is transmitted (Angle of Arrival, AoA), or the like.

The landmark method is a method of measuring the position of the main body using a landmark transmitter that knows the position.

In addition to the listed methods, various algorithms can be used as a method for extracting (or analyzing) the position information of the main body.

The extracted location information of the main body 100 is transmitted to the main body 100 through the Wi-Fi location server, so that the main body 100 can obtain location information.

The main body 100 may be connected to at least one wireless AP to obtain location information. At this time, the number of wireless APs required to acquire the location information of the main body 100 can be variously changed according to the wireless communication environment in which the main body 100 is located.

FIG. 2 is a view for explaining movement of an apparatus module of a modular domestic robot according to the present invention.

As shown in FIG. 2, the device module 200 of the modular home robot according to the present invention is detachable from the main body 100 and can perform wireless communication with each other.

That is, the user can separate the device module 200 among the modular home robots separately and place them in a desired place in the home.

Also, the device module 200 may be made of various magnet materials such as neodymium, samarium cobalt, ferrite, and alico.

Therefore, the user can place the device module 200 in any place where the magnetic force can be generated to drive the desired function.

3 to 5 are views for explaining an example in which a modular home robot according to the present invention perceives and responds to a user.

As shown in FIG. 3, the modular home robot according to the present invention can detect a user 300 within a predetermined distance by using a proximity sensor.

As shown in FIG. 3, if the user 300 is separated by a certain distance or more, the modular home robot may be inactivated. That is, when the user 300 is located at a certain distance or more away, the robot can be inactivated and power consumption can be minimized.

On the other hand, as shown in FIG. 4, when the user 300 is detected within a certain distance, the main body 100 and the device module 200 can be activated.

Also, the main body 100 can lift the device module 200 at a certain distance using a magnetic force.

The main body 100 may output a greeting message to the user through the speaker while the device module 200 is located at a certain height.

5, when the user 300 approaches the distance of FIG. 4 in a situation where the device module 200 is located at a certain distance from the height, the main body 100 changes the magnetism So that the LED unit 205 of the device module 200 is directed to the user 300.

3 to 5, the user has the technical effect of interacting with the modular home robot without any additional activation.

6 to 7 are views for explaining an example in which a modular domestic robot according to the present invention controls an external device according to user input.

As shown in FIG. 6, the main body 100 of the modular home robot according to the present invention can automatically activate the voice recognition function at a predetermined time.

In this case, the main body 100 can output the voice message input through the speaker without the user's input.

For example, the main body 100 may always output a voice message associated with a coffee order through the speaker at 7:00 am.

At this time, the user 300 may input a response message to the coffee order via the microphone of the main body 100 within a predetermined time.

6, it is assumed that the user 300 inputs a voice-recognition message for ordering coffee.

The main body 100 receiving the voice recognition message for the coffee order from the user 300 may send a message instructing the wirelessly connected coffee machine 600 to extract a cup of coffee.

Then, the main body 100 can control to display a coffee cup image on the device module 200.

6 to 7, a coffee machine as an external device is described as an example, but an application common to all devices located in a home other than a coffee machine may be applied.

FIG. 8 is a view for explaining an example in which the modular home robot performs the time-based repeated operation according to the embodiment of the present invention.

The modular home robot according to the present invention can perform a repetitive operation for a predetermined time or a predetermined period according to a user setting.

For example, as shown in FIG. 8, the main body 100 can receive weather information from an external server every morning at 7:20 (predetermined time, 800).

The main body 100 receiving the weather information can output the weather information through the speaker by voice.

In addition, the main body 100 may control the device module 200 to display a weather image when outputting weather information by voice.

In addition, the main body 100 can transmit weather information to a predetermined user's mobile device 305 upon receiving weather information.

The mobile device 305 of the user who has received the weather information from the main body 100 can display the weather information on the screen.

In FIG. 8, the weather information output will be described as an example of a certain repetitive operation, but various other operations can also be included in the scope of the present invention.

9 to 11 are views for explaining an example in which a modular home robot according to the present invention interacts with a user using a dust sensor.

9 to 11, the main body 100 of the modular home robot according to the present invention can detect the dust concentration through the dust sensor, and then can perform the interaction with the user 300 to remove the dust have.

First, the device module 200 of the modular home robot may include a gas sensor, a dust sensor, or the like. 9 to 11, it is assumed that the device module 200 is a dust sensor module.

The device module 200 can detect the dust concentration in real time and display the detected dust concentration.

In addition, the main body 100 can receive dust concentration information from the device module 200 in real time.

10, the main body 100 performs data communication with the window opening / closing apparatus 1000 to determine whether the dust concentration is rapidly increased for a predetermined period of time based on the received dust concentration information, Can be controlled to be closed.

Also, as shown in FIG. 11, the main body 100 may perform an interaction with the user 300 to remove dust.

11, the main body 100 transmits a message regarding the increase in dust concentration to the user 300 located within a predetermined distance when the dust concentration reaches a predetermined concentration or more (S1110), and recommends that the window be closed (S1120).

The user 300 may input a message instructing to close the window by using the voice recognition function (S1130).

Upon receiving the user message, the main body 100 outputs a voice for message confirmation (S1140), and controls the window opening / closing device to close the window (S1150).

Then, the main body 100 may send an air cleaner solicitation message to the user 300 in order to reduce the current domestic dust concentration (S1160).

The user 300 may input a message instructing operation of the air cleaner through the voice recognition function (S1170).

Upon receiving the user message, the main body 100 outputs a voice message confirmation acknowledgment (S1180) and controls the air cleaner to operate (S1190).

12 is a view for explaining an example in which a modular home robot according to the present invention simultaneously interacts with an external device and a user.

12, the main body 100 of the modular home robot according to the present invention can perform an interaction with the external device 1200 and the user 300 at the same time. 12, the external device 1200 is assumed to be a washing machine for convenience of explanation.

First, the washing machine 1200 can transmit a completion message to the main body 100 when the laundry is completed (S1210).

Then, the main body 100 can output a voice message indicating that the laundry is completed through the speaker (S1220).

In addition, the main body 100 may output a message for inviting use of the drying function of the washing machine in the form of a voice message based on the current weather information (S1230).

The main body 100 may receive the drying function request message from the user as voice data (S1240).

The main body 100 may transmit a drying function operation request message to the washing machine 1200 (S1250).

The washing machine 1200 having received the message operates the drying function (S1260), and can transmit a message including the drying method and drying time information to the main body 100 (S1270).

Then, the main body 100 can reproduce specific music through the speaker until drying is completed (S1280).

According to the method described with reference to FIG. 12, the user can control various in-home apparatuses using the in-home robot without directly identifying the washing machine.

13 and 14 are diagrams for explaining an example in which only the device module among the modular home robots according to the present invention operates separately.

As described above, in the modular home robot according to the present invention, the main body 100 and the device module 200 can be separated from each other.

As shown in FIG. 13, the user 300 can move only the device module 200 of the robot separately. In this case, the main body 100 can be deactivated, and only the device module 200 can be activated. 13 and 14, it is assumed that the device module 200 is a dust sensor module.

As shown in FIG. 14, the device module 200 can be activated by itself without the main body 100 to operate the dust sensor function.

The dust concentration information sensed in real time can be displayed on the outer surface of the device module 200.

In addition, when the dust concentration exceeds the predetermined concentration and the predetermined time passes, the user mobile device 1400 can transmit a message including the current air pollution degree information.

The user can perform air purification of the corresponding space by referring to the dust concentration information displayed on the mobile device 1400 as well as the device module 200. [

FIGS. 15 to 19 are views for explaining an example when the device module of the modular home robot according to the present invention is a camera module.

In FIGS. 15 to 19, embodiments in which the above-described device module 200 is a camera module 204 will be described.

15, the modular home robot according to the present invention can control the rotation of the camera module 204 by using the magnetic force between the main body 100 and the camera module 204. FIG.

The camera module 204 can be raised from the main body 100 by a predetermined height or more according to the activation of the main body 100 and the camera module 204 as described above.

Also, in a state where the camera module 204 is floating in the air, the main body 100 may change the magnetism so that the camera module 204 can rotate clockwise or counterclockwise at a certain angle.

The camera module 204 can be freely rotated in the clockwise and counterclockwise directions, and various embodiments will be described below with reference to FIGS. 16 to 19.

16 is a view for explaining an example in which the modular home robot according to the present invention senses entrance and exit of a user and operates as a home surveillance camera.

As shown in FIG. 16, the main body 100 and the front door 1600 can perform data communication using the in-home IoT technique.

In addition, it is possible to detect that the user 300 comes in and out through the front door 1600 by using the human body detection sensor in the front door.

When the user 300 receives information exiting through the front door 1600, the main body 100 may operate in a secure mode.

In the security mode, the camera module 204 can be photographed and recorded in real-time all directions in 360 degrees in a predetermined cycle.

Accordingly, there is an effect of enhancing the security by photographing the inside of the house in real time in the absence of the user 300 without having to set it separately.

As shown in FIG. 17, the main body 100 can recognize the voice of the user 300.

The main body 100 recognizing the voice of the user 300 can detect the position of the user 300 using the PSD sensor.

Compared to the existing IR (infrared) sensor, the PSD sensor is an optical sensor that can detect up to the position of the user 300. The distance can be detected by measuring the angle of light reflected by the light emitting lens when the infrared ray is shot .

The main body 100 can detect the position of the user 300 located nearby and change the magnetism to rotate the camera module 204 toward the user 300 based on the voice recognition information of the user 300 have.

At this time, the camera module 204 can be set to rotate only when the voice recognition result recognized from the user 300 is the same as the previously stored voice recognition information. For example, this operation can be performed only when the user 300 recognizes a voice-recognition request message.

In this case, the main body 100 controls the lens unit of the camera module 204 to be directed toward the user 300 according to the voice recognition of the user 300, and then controls to take a picture immediately.

Also, as shown in FIGS. 18 and 19, the user 300 can move only the camera module 204 portion of the modular home robot. In the figure, the user 300 moves the camera module 204 from the living room to the bedroom.

At this time, the main body 100 can perform remote communication with the camera module 204.

In this case, the camera module 204 can detect a situation inside the bedroom after being located in a certain space in the bedroom.

If there is a bedroom user 1900, the bedroom user 1900 may be photographed in real time, and the contents may be transmitted to the user mobile device 1910 when a specific moving motion is detected.

For example, when the bedroom user is a child (1900), each time the child (1900) performs a specific operation, the information may be transmitted to the user mobile device (1910) to perform a notification operation. At this time, the camera module 204 may directly transmit data to the user mobile device 1910 or may transmit the data to the main body 100 and then transmit the main body 100 to the user mobile device 1910.

20 to 21 are views for explaining an example when the device module of the modular home robot according to the present invention is a projector module.

As shown in FIG. 20, the user 300 can input a projection request message using a voice recognition function.

The main body 100, which has received the projection request message from the user by voice, can control the detection of the projection area around the main body 100 using the camera.

The main body 100, which detects the projection area, can control the projector module 206 to rotate using the magnetic variation as described above, and to project the projection content 2000 to the selected projection area.

Also, as shown in FIG. 21, the main body 100 or the projector module 206 can detect the movement of the user 300 in real time.

The main body 100 may control the projected content 2000 to be projected while being moved together with the movement of the user 300 by rotating the projector module 206 in accordance with the movement of the user 300.

22 to 23 are views for explaining an additional embodiment of the modular domestic robot according to the present invention.

As shown in FIG. 22, the user 300 can input a command such as an alarm setting to the main body 100 by voice recognition.

The main body 100 receiving the user voice recognition can control to move the device module 200 up and down to transmit an acknowledgment (Ack) message.

In addition, the LED 205 mounted on the device module 200 may be turned on to provide a flashing effect of the robot's eyes.

Also, by outputting the acknowledgment message by voice through the speaker of the main body 100, the user 300 can obtain the same effect as communicating with the actual robot.

Also, as shown in FIG. 22, the device module 200 can perform wireless charging using the main body 100.

The device module 200 can be wirelessly charged not only in a state of being in contact with the upper surface of the main body 100 but also in a state where the device module 200 is floated above the predetermined height as described above.

In addition, the device module 200 may display the charging display image 2310 on the outside and remain in contact with the upper surface of the main body 100 during the continuation of the charging.

On the other hand, when the charging of the device module 200 is completed, the main body 100 can control the device module 200 to display the charging completion image 2320 on the device module 200 at a predetermined height or higher .

Therefore, there is an effect that the user can easily recognize that the device module 200 has been charged from a distance.

The modular home robots according to the present invention can be applied to the configurations and methods of the embodiments described above in a limited manner, As shown in FIG.

The foregoing description of the preferred embodiments of the present invention has been presented for purposes of illustration and various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention, And additions should be considered as falling within the scope of the following claims.

Claims (15)

In a modular domestic robot,
A device module coupling unit for coupling with the device module;
An input for receiving user input;
An output unit for outputting voice and image;
A sensing unit for sensing a user; And
A control unit for controlling the modular home robot to detect a trigger signal and to activate the device module or the output unit according to the detected trigger signal and perform an operation mapped to the detected trigger signal Including,
Wherein the trigger signal includes a user proximity signal, a user voice signal, a user movement signal, a specific time detection signal,
Modular home robots.
The method according to claim 1,
Wherein the trigger signal is a user proximity signal,
Wherein,
And controlling the device module to be located at a predetermined distance or more from the device module coupling unit when the user is within a predetermined distance,
Modular home robots.
3. The method of claim 2,
Wherein,
And outputting the predetermined voice message through the output unit,
Modular home robots.
3. The method of claim 2,
Wherein the device module is configured to emit light through the LED in a state in which the device module is spaced from the device module connector by a predetermined distance or more,
Modular home robots.
5. The method of claim 4,
Wherein,
Rotating the device module using a magnetic change such that an LED of the device module faces the proximity-
Modular home robots.
The method according to claim 1,
The trigger signal is a specific time sense signal,
Wherein,
Activates a voice recognition operation using the input unit and the output unit,
And outputting the predetermined voice guidance message mapped at the specific time through the output unit,
Modular home robots.
The method according to claim 6,
Wherein,
If the voice command is not received within the predetermined time after the voice guidance message is output,
Processing the voice announcement message for the mobile and transmitting the voice announcement message to the user mobile device,
Modular home robots.
The method according to claim 1,
Wherein the trigger signal is an environment change detection signal,
Wherein the device module is a dust concentration detection module,
The modular home robot further includes a wireless communication unit for transmitting and receiving data,
The dust concentration detection module
The method of claim 1, further comprising the steps of: detecting the concentration of dust in real time in real time, and transmitting the dust concentration information to the wireless communication unit
Modular home robots.
9. The method of claim 8,
Wherein,
If it is determined that the dust concentration received from the dust concentration detection module is equal to or higher than the predetermined concentration,
A data communication with the window opening / closing device,
Modular home robots.
9. The method of claim 8,
Wherein,
The dust concentration information received from the dust concentration detection module is output through the voice message if it is determined that the dust concentration received from the dust concentration detection module is equal to or higher than the predetermined concentration,
A control unit that performs data communication with the window opening / closing apparatus when the window control voice command is received from the user,
Modular home robots.
The method according to claim 1,
Wherein,
When detecting that the distance between the device module joining unit and the device module falls by a predetermined distance or more,
Power-saving mode,
Modular home robots.
The method according to claim 1,
Wherein the device module is a camera module,
The trigger signal is a user movement signal,
Wherein,
Controlling the camera module to rotate 360 degrees in a predetermined cycle when the user outgoing information is sensed, and to photograph and store the inside of the house in real time through the camera module,
Modular home robots.
The method according to claim 1,
Wherein the device module is a projector module,
Wherein the trigger signal is a user voice signal,
Wherein,
And a controller for controlling the projector module to rotate the projector module through a magnetic change so as to face the detected projection area when the projection request voice command is received from the user,
Modular home robots.
14. The method of claim 13,
Wherein the trigger signal comprises a user movement signal,
Wherein,
Wherein when the projector module senses user movement information during projection, it tracks a user, and at the same time controls the projector module to rotate,
Modular home robots.
The method according to claim 1,
Wherein the device module coupling comprises a wireless charging module,
Modular home robots.

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